A =[-0.3846             0             0             0             0             0             0             0           0         1.538             0             0;
    1             0             0             0             0             0             0             0;
    0             0             0             0             0             0             0             0;
    0             0             0             0             0             0             0             0;
    0             0             0             0       -0.3846             0             0             0;
    0             0             0             0             1             0             0             0;
    0             0             0             0             0             0       -0.3846             0;
    0             0             0             0             0             0             1             0;
    0             0             0             0             0             0             0             0;
    0             0             1             0             0             0             0             0;
    0             0             0             1             0             0             0             0;
    0             0             0             0             0             0             0             0];
B=
